Hilly and mountain combined split type picking robot based on unmanned aerial vehicle hoisting

Abstract

The utility model discloses a hilly and mountainous region combined split type picking robot based on unmanned aerial vehicle hoisting, which comprises a picking robot body used for picking fruits; the hoisting part is arranged at the top of the picking robot body and used for hoisting the picking robot body to different positions of an orchard; according to the utility model, the open-ground combined type structural design is adopted, and the hoisting piece and the picking robot body are separately and synergistically matched, so that the robot can adapt to complex terrain environments such as hills and mountains, the obstacle crossing capability is improved, and wider orchard operation coverage is realized; the lifting and fruit frame carrying functions are achieved through cooperation of the lifting piece and the lifting mechanism, the lifting and fruit frame carrying functions serve as the aerial operation core of the device, the tasks of lifting and fruit transferring of the picking robot body can be independently completed, and the problem that a traditional ground moving platform is low in transportation efficiency in a rugged path is solved.

Description

A modular, split-type harvesting robot for hilly and mountainous terrain based on drone hoisting. Technical Field

[0001] This utility model relates to the field of agricultural automated harvesting technology, specifically a combined split-type harvesting robot for hilly and mountainous areas based on drone hoisting. Background Technology

[0002] In orchards located in hilly and mountainous areas, the complex terrain and significant elevation changes make it difficult for ordinary harvesting robots to reach all parts of the orchard for fruit picking. Traditional harvesting methods rely mainly on manual labor, which is not only labor-intensive and inefficient, but also poses certain safety risks in some rugged areas.

[0003] Existing harvesting robots are typically monolithic structures, whose movement and transportation are significantly limited by terrain, making them difficult to adapt to the complex environments of hilly and mountainous areas. While some robots can adapt to uneven terrain to some extent, they still cannot effectively reach and carry out harvesting operations in areas with steep slopes and numerous gullies.

[0004] Therefore, this utility model proposes a modular picking robot that can adapt to the complex terrain of hilly and mountainous areas and flexibly reach any location in the orchard. Summary of the Invention

[0005] The purpose of this invention is to provide a modular harvesting robot for hilly and mountainous terrain based on drone hoisting, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a combined split-type harvesting robot for hilly and mountainous areas based on drone hoisting, comprising:

[0007] The main body of the harvesting robot is used for harvesting fruits;

[0008] The lifting device is installed on the top of the harvesting robot body to lift the harvesting robot body to different locations in the orchard;

[0009] The lifting mechanism is located between the harvesting robot body and the lifting component, so that the lifting component can lift the harvesting robot body through the lifting mechanism;

[0010] The harvesting robot body includes a frame, and the bottom of the frame is equipped with drive wheels for movement. A storage frame is fixedly installed on one side of the top of the frame for storing the fruit.

[0011] A scissor lift is installed on the other side of the top of the frame, and a lifting platform is installed on the top of the scissor lift. An electric push rod for adjusting the height of the lifting platform is installed between the scissor lift and the frame.

[0012] An adjustment mechanism is installed on the top of the lifting platform, and a harvesting robotic arm for picking is installed on the top of the adjustment mechanism.

[0013] Preferably, the adjusting component includes a bracket fixedly installed on the top of the lifting platform, and a servo motor is installed on one side of the bracket. The output end of the servo motor passes through the bracket and extends into the interior of the bracket. A lead screw is fixedly installed on the output end of the servo motor, and a moving platform is threaded onto the surface of the lead screw.

[0014] A rotating platform for driving rotation is fixedly installed on the top of the mobile platform, and the harvesting robotic arm is installed on the top of the rotating platform.

[0015] Preferably, the lifting device includes a drone mounted on top of the harvesting robot body, a fixed frame installed at the bottom of the drone, and a lifting platform fixedly installed at the bottom of the fixed frame, for moving the harvesting robot body to any location in the orchard.

[0016] Preferably, the lifting mechanism includes an electric winch fixedly installed at the bottom of the lifting platform, a retractable steel wire rope installed at the bottom of the electric winch, a clamping seat installed at the bottom of the steel wire rope, and a hook for hooking is fixedly installed at the bottom of the clamping seat.

[0017] Preferably, the picking gripper of the picking robotic arm clamps onto the surface of the gripper base for connection with the lifting mechanism when the picking robot body moves.

[0018] Preferably, the harvesting robot body, lifting component, and lifting mechanism support two modes: combined operation and separate operation. In the combined operation mode, the lifting component pulls the harvesting robot body to overcome obstacles, while in the separate operation mode, the lifting component and the harvesting robot body operate independently for lifting and transporting the storage frame.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. This utility model adopts an air-ground combined structure design. Through the separate and coordinated cooperation of the hoisting parts and the main body of the picking robot, it can adapt to complex terrain environments such as hilly and mountainous areas, improve obstacle crossing and obstacle-crossing capabilities, and achieve a wider coverage of orchard operations.

[0021] 2. This utility model utilizes the joint cooperation of the hoisting component and the lifting mechanism to have the functions of hoisting and fruit basket transportation. As the core of the aerial operation of this device, it can independently complete the hoisting and fruit transfer tasks of the picking robot body and alleviate the problem of low transportation efficiency of traditional ground mobile platforms in rugged paths.

[0022] 3. In the harvesting operation of the robotic arm, the electric push rod and the scissor lift can be used to adjust the height of the lifting platform and the robotic arm on top of it. The adjusting component can drive the robotic arm to move and rotate on the top of the lifting platform, so that the robotic arm can harvest fruits at different heights and positions, further improving the practicality of the device. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 is a schematic diagram of the main structure of the harvesting robot of this utility model;

[0025] Figure 3 is a schematic diagram of the adjusting component structure of this utility model;

[0026] Figure 4 is a schematic diagram of the lifting component structure of this utility model.

[0027] In the diagram: 1. Harvesting robot body; 11. Frame; 12. Drive wheel; 13. Storage box; 14. Scissor lift; 15. Lifting platform; 16. Electric push rod; 17. Adjustment component; 171. Bracket; 172. Servo motor; 173. Lead screw; 174. Moving platform; 175. Rotating platform; 18. Harvesting robotic arm; 2. Lifting component; 21. Drone; 22. Fixture; 23. Lifting platform; 3. Lifting mechanism; 31. Electric winch; 32. Wire rope; 33. Clamping seat; 34. Hook. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please refer to Figures 1-4. This utility model provides a technical solution: a combined split-type harvesting robot for hilly and mountainous areas based on drone hoisting, comprising:

[0030] The main body of the harvesting robot 1 is used for harvesting fruits;

[0031] Lifting component 2 is installed on the top of the picking robot body 1 to lift the picking robot body 1 to different locations in the orchard;

[0032] The lifting mechanism 3 is located between the harvesting robot body 1 and the lifting component 2, so as to use the lifting component 2 to lift the harvesting robot body 1 through the lifting mechanism 3;

[0033] The main body 1 of the harvesting robot includes a frame 11, and a drive wheel 12 for movement is installed at the bottom of the frame 11. A storage frame 13 is fixedly installed on one side of the top of the frame 11 for storing the fruit.

[0034] A scissor lift 14 is installed on the other side of the top of the frame 11, and a lifting platform 15 is installed on the top of the scissor lift 14. An electric push rod 16 for adjusting the height of the lifting platform 15 is installed between the scissor lift 14 and the frame 11.

[0035] An adjustment component 17 is installed on the top of the lifting platform 15, and a harvesting robotic arm 18 for harvesting is installed on the top of the adjustment component 17.

[0036] The lifting component 2 includes a drone 21 mounted on the top of the picking robot body 1. A fixed frame 22 is installed at the bottom of the drone 21, and a lifting platform 23 is fixedly installed at the bottom of the fixed frame 22 to move the picking robot body 1 to any location in the orchard.

[0037] The lifting mechanism 3 includes an electric winch 31 fixedly installed at the bottom of the lifting platform 23. A retractable steel wire rope 32 is installed at the bottom of the electric winch 31. A clamping seat 33 is installed at the bottom of the steel wire rope 32, and a hook 34 for hooking is fixedly installed at the bottom of the clamping seat 33.

[0038] In this embodiment, when it is necessary to transport the picking robot body 1 to a designated location in the orchard, the operator first starts the hoisting component 2 through the remote control terminal, so that it flies above the picking robot body 1. Then, the electric winch 31 is controlled to lower the wire rope 32 and the clamping seat 33, and the picking claw of the picking robot arm 18 clamps the clamping seat 33 to make the two stably connected. At the same time, the electric winch 31 retracts the wire rope 32 and the clamping seat 33 to slowly lift the picking robot body 1. During the hoisting process, the flight attitude and hoisting status of the picking robot body 1 are monitored in real time by the sensors of the hoisting component 2 to ensure the safety and stability of the hoisting process. When the drone (21) flies to the target position, the electric winch 31 lowers the wire rope 32 and the clamping seat 33 to place the picking robot body 1 stably on the ground.

[0039] Referring to Figures 1, 2 and 3, the adjusting component 17 includes a bracket 171 fixedly installed on the top of the lifting platform 15, and a servo motor 172 is installed on one side of the bracket 171. The output end of the servo motor 172 passes through the bracket 171 and extends into the interior of the bracket 171. A lead screw 173 is fixedly installed on the output end of the servo motor 172, and a moving platform 174 is threadedly connected to the surface of the lead screw 173.

[0040] A rotating platform 175 for driving rotation is fixedly installed on the top of the mobile platform 174, and a picking robotic arm 18 is installed on the top of the rotating platform 175.

[0041] In this embodiment, when the harvesting robotic arm 18 is harvesting, the electric push rod 16 and the scissor lift 14 cooperate to adjust the height of the lifting platform 15 and the harvesting robotic arm 18 on top of it. The adjusting component 17 can drive the harvesting robotic arm 18 to move and rotate on the top of the lifting platform 15, so that the harvesting robotic arm 18 can harvest fruits of different heights and positions, further improving the practicality of the device.

[0042] Referring to FIG1, the picking gripper of the picking robotic arm 18 is clamped on the surface of the clamping seat 33 for connecting the picking robot body 1 with the lifting mechanism 3 when it moves.

[0043] In this embodiment, the picking gripper of the picking robotic arm 18 can be connected to the lifting mechanism 3, eliminating the need for a separate connection structure and further reducing costs.

[0044] Referring to Figure 1, the harvesting robot body 1, the hoisting component 2, and the lifting mechanism 3 support two modes: combined operation and separate operation. In the combined operation mode, the hoisting component 2 pulls the harvesting robot body 1 to overcome obstacles, while in the separate operation mode, the hoisting component 2 and the harvesting robot body 1 operate independently for hoisting and transporting the storage box 13.

[0045] Working principle: When it is necessary to transport the picking robot body 1 to a designated location in the orchard, the operator first starts the hoisting component 2 through the remote control terminal, so that it flies above the picking robot body 1. Then, the electric winch 31 is controlled to lower the wire rope 32 and the clamping seat 33, and the picking claw of the picking robot arm 18 clamps the clamping seat 33 to make the two stably connected. At the same time, the electric winch 31 retracts the wire rope 32 and the clamping seat 33 to slowly lift the picking robot body 1. During the hoisting process, the sensor of the hoisting component 2 monitors its flight attitude and the hoisting status of the picking robot body 1 in real time to ensure the safety and stability of the hoisting process. When the drone (21) flies to the target position, the electric winch 31 lowers the wire rope 32 and the clamping seat 33 to place the picking robot body 1 stably on the ground.

[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A modular, split-type harvesting robot for hilly and mountainous terrain based on drone hoisting, characterized in that, include: The main body of the harvesting robot (1) is used for harvesting fruits; A lifting component (2) is disposed on the top of the picking robot body (1) for lifting the picking robot body (1) to different locations in the orchard; a lifting mechanism (3) is disposed between the picking robot body (1) and the lifting component (2) for the lifting component (2) to lift the picking robot body (1) via the lifting mechanism (3); the picking robot body (1) includes a frame (11), and the bottom of the frame (11) is equipped with drive wheels (12) for movement, and the top of the frame (11) has a... A storage frame (13) is fixedly installed on the side for storing the fruit; a scissor lift (14) is installed on the other side of the top of the frame (11), and a lifting platform (15) is installed on the top of the scissor lift (14); an electric push rod (16) for adjusting the height of the lifting platform (15) is installed between the scissor lift (14) and the frame (11); an adjusting component (17) is installed on the top of the lifting platform (15), and a picking robotic arm (18) for picking is installed on the top of the adjusting component (17).

2. The hilly and mountainous combined split-type harvesting robot based on drone hoisting as described in claim 1, characterized in that: The adjusting component (17) includes a bracket (171) fixedly installed on the top of the lifting platform (15), and a servo motor (172) is installed on one side of the bracket (171). The output end of the servo motor (172) passes through the bracket (171) and extends into the interior of the bracket (171). A lead screw (173) is fixedly installed on the output end of the servo motor (172). A moving platform (174) is threadedly connected to the surface of the lead screw (173). A rotating platform (175) for driving rotation is fixedly installed on the top of the moving platform (174), and the picking robotic arm (18) is installed on the top of the rotating platform (175).

3. The hilly and mountainous combined split-type harvesting robot based on drone hoisting as described in claim 1, characterized in that: The hoisting component (2) includes a drone (21) mounted on the top of the picking robot body (1). A fixed frame (22) is installed at the bottom of the drone (21), and a hoisting platform (23) is fixedly installed at the bottom of the fixed frame (22) to move the picking robot body (1) to any location in the orchard.

4. A modular harvesting robot for hilly and mountainous terrain based on drone hoisting, as described in claim 3, is characterized in that: The lifting mechanism (3) includes an electric winch (31) fixedly installed at the bottom of the lifting platform (23). A retractable steel wire rope (32) is installed at the bottom of the electric winch (31). A clamping seat (33) is installed at the bottom of the steel wire rope (32), and a hook (34) for hooking is fixedly installed at the bottom of the clamping seat (33).

5. A modular harvesting robot for hilly and mountainous terrain based on drone hoisting, as described in claim 4, is characterized in that: The picking gripper of the picking robot arm (18) is held on the surface of the gripper seat (33) for connecting the picking robot body (1) with the lifting mechanism (3) when it moves.

6. A modular harvesting robot for hilly and mountainous terrain based on drone hoisting, as described in claim 1, is characterized in that: The harvesting robot body (1), the hoisting component (2) and the lifting mechanism (3) support two modes: combined operation and separate operation. In the combined operation mode, the hoisting component (2) pulls the harvesting robot body (1) to overcome obstacles. In the separate operation mode, the hoisting component (2) and the harvesting robot body (1) operate independently for hoisting and transporting the storage box (13).

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